diff --git a/config/default_camera.yaml b/config/default_camera.yaml
index d77992902fc469c2a7efade89765939966fd6c89..ff786a46c6a4274038d75065f11fe0dc23f0d176 100644
--- a/config/default_camera.yaml
+++ b/config/default_camera.yaml
@@ -3,13 +3,9 @@ camera_name: firewire_camera
frame_id: camera_frame
Camera_node: 0 #-1=use serial, 0,1,2...=use camera
Camera_serial: ""
-
#known serials
#FLEA2-R: 00b09d0100a96262
#FLEA2-L: 00b09d01006cf72a
- #bumblebee dabo: 0814438300001f9c
- #bumblebee tibi: ????????????????
-
ISO_speed: 400
Image_width: 1024
Image_height: 768
diff --git a/launch/node.launch b/launch/node.launch
index 1d215d9ffc0b06bd80a86baa9425937c3f48e5ba..a6bbe947031965557c5de5a34e03747ad2eb15b1 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -2,23 +2,32 @@
<!-- -->
<launch>
- <arg name="name" default="robot" />
+ <arg name="ns" default="robot" />
+ <arg name="name" default="firewire"/>
<arg name="config_file" default="$(find iri_firewire_camera_driver)/config/default_camera.yaml" />
+ <arg name="cal_file" default="file://$(find iri_firewire_camera_driver)/calibration/default_camera.yaml"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
- <arg name="cal_file" default="file://$(find iri_firewire_camera_driver)/calibration/default_camera.yaml"/>
- <group ns="$(arg name)">
+ <group ns="$(arg ns)">
<node pkg ="iri_firewire_camera_driver"
type="iri_firewire_camera_driver"
- name="firewire_camera"
+ name="$(arg name)"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<rosparam file="$(arg config_file)" command="load" />
- <param name="cal_file" value="$(arg cal_file)"/>
+ <param name="cal_file" value="$(arg cal_file)"/>
</node>
</group>
-</launch>
\ No newline at end of file
+</launch>
+
+<!--
+published
+
+/<arg ns>/<arg name>/*
+/robot/firewire/image_raw
+/robot/firewire/camera_info
+-->
\ No newline at end of file
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 2001157c363609bb656a22eccec7eda06e68f187..69df5292aa636f265eca89cbbe10e90fa4afe486 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -3,7 +3,7 @@
<launch>
<arg name="name" default="robot" />
- <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/params.yaml" />
+ <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/default_camera.yaml" />
<arg name="output" default="log" />
<arg name="launch_prefix" default="" />
@@ -14,7 +14,7 @@
name="standalone_nodelet"
args="manager"
output="$(arg output)"
- launch-prefix="$(arg launch_prefix)">
+ launch-prefix="$(arg launch_prefix)"/>
<node pkg="nodelet"
type="nodelet"
@@ -31,4 +31,4 @@
<!-- TODO remaps image_raw, camera_info-->
<!-- TODO params nodelet? -->
-<!-- TODO test with image_proc/crop_decimate, image_proc/rectify
\ No newline at end of file
+<!-- TODO test with image_proc/crop_decimate, image_proc/rectify -->
\ No newline at end of file
diff --git a/src/firewire_camera_driver.cpp b/src/firewire_camera_driver.cpp
index da5db244bf49315eafbc4de053caa54a0869ef32..528c8f6778f89be80d92f504c751de102858adcf 100644
--- a/src/firewire_camera_driver.cpp
+++ b/src/firewire_camera_driver.cpp
@@ -120,7 +120,7 @@ bool FirewireCameraDriver::startDriver(void)
return true;
}catch(CException &e){
this->unlock();
- //ROS_INFO(e.what().data());
+ ROS_ERROR("FirewireCameraDriver:startDriver:Exception: %s", e.what().data());
return false;
}
}
@@ -140,7 +140,7 @@ bool FirewireCameraDriver::stopDriver(void)
return true;
}catch(CException &e){
this->unlock();
- //ROS_INFO(e.what().data());
+ ROS_ERROR("FirewireCameraDriver:stopDriver:Exception: %s", e.what().data());
return false;
}
}
@@ -340,7 +340,7 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
this->camera->enable_feature(DC1394_FEATURE_WHITE_BALANCE);
}catch(CFirewireFeatureException &e){
(*enable)=false;
- ROS_ERROR("FirewireCameraDriver: The white balance feature can not be enabled");
+ ROS_WARN("FirewireCameraDriver: The white balance feature can not be enabled");
return;
}
if((*mode)==0)
@@ -359,7 +359,7 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
this->camera->set_feature_manual(DC1394_FEATURE_WHITE_BALANCE);
}catch(CFirewireFeatureException &e){
(*mode)=0;
- ROS_ERROR("FirewireCameraDriver: The white balance feature can not be set in manual mode");
+ ROS_WARN("FirewireCameraDriver: The white balance feature can not be set in manual mode");
return;
}
try{
@@ -378,7 +378,7 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
this->camera->disable_feature(DC1394_FEATURE_WHITE_BALANCE);
}catch(CFirewireFeatureException &e){
(*enable)=true;
- ROS_ERROR("FirewireCameraDriver: The white balance feature can not be disabled");
+ ROS_WARN("FirewireCameraDriver: The white balance feature can not be disabled");
return;
}
}
@@ -386,7 +386,7 @@ void FirewireCameraDriver::set_white_balance(bool *enable,int *mode, int *u_b_va
else
{
(*enable)=false;
- ROS_ERROR("FirewireCameraDriver: The white balance feature is not present");
+ ROS_WARN("FirewireCameraDriver: The white balance feature is not present");
}
}catch(CFirewireInternalException &e){
ROS_ERROR("FirewireCameraDriver: Impossible to set the white balance feature");
@@ -405,7 +405,7 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
this->camera->enable_feature(DC1394_FEATURE_SHUTTER);
}catch(CFirewireFeatureException &e){
(*enable)=false;
- ROS_ERROR("FirewireCameraDriver: The shutter feature is not present");
+ ROS_WARN("FirewireCameraDriver: The shutter feature is not present");
return;
}
if((*mode)==0)
@@ -443,7 +443,7 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
this->camera->disable_feature(DC1394_FEATURE_SHUTTER);
}catch(CFirewireFeatureException &e){
(*enable)=true;
- ROS_ERROR("FirewireCameraDriver: The shutter feature can not be disabled");
+ ROS_WARN("FirewireCameraDriver: The shutter feature can not be disabled");
return;
}
}
@@ -451,7 +451,7 @@ void FirewireCameraDriver::set_shutter(bool *enable,int *mode, int *value)
else
{
(*enable)=false;
- ROS_ERROR("FirewireCameraDriver: The shutter feature is not present");
+ ROS_WARN("FirewireCameraDriver: The shutter feature is not present");
}
}catch(CFirewireInternalException &e){
ROS_ERROR("FirewireCameraDriver: Impossible to set the shutter feature");
@@ -470,7 +470,7 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
this->camera->enable_feature(DC1394_FEATURE_GAIN);
}catch(CFirewireFeatureException &e){
(*enable)=false;
- ROS_ERROR("FirewireCameraDriver: The gain feature is not present");
+ ROS_WARN("FirewireCameraDriver: The gain feature is not present");
return;
}
if((*mode)==0)
@@ -508,7 +508,7 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
this->camera->disable_feature(DC1394_FEATURE_GAIN);
}catch(CFirewireFeatureException &e){
(*enable)=true;
- ROS_ERROR("FirewireCameraDriver: The gain feature can not be disabled");
+ ROS_WARN("FirewireCameraDriver: The gain feature can not be disabled");
return;
}
}
@@ -516,7 +516,7 @@ void FirewireCameraDriver::set_gain(bool *enable, int *mode, int *value)
else
{
(*enable)=false;
- ROS_ERROR("FirewireCameraDriver: The gain feature is not present");
+ ROS_WARN("FirewireCameraDriver: The gain feature is not present");
}
}catch(CFirewireInternalException &e){
ROS_ERROR("FirewireCameraDriver: Impossible to set the gain feature");
diff --git a/src/firewire_camera_driver_node.cpp b/src/firewire_camera_driver_node.cpp
index 79a2129bc3bfea1a079e8b5d5ad12f6ed19e759f..1667f556b0785261d69d54f98cf2f5caa2430fa1 100644
--- a/src/firewire_camera_driver_node.cpp
+++ b/src/firewire_camera_driver_node.cpp
@@ -1,7 +1,7 @@
#include "firewire_camera_driver_node.h"
FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_base_driver::IriBaseNodeDriver<FirewireCameraDriver>(nh),
- camera_manager(ros::NodeHandle(this->public_node_handle_))
+ camera_manager(ros::NodeHandle(nh))
{
std::string cal_file;
bool cal_ok=false;
@@ -13,20 +13,21 @@ FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_ba
this->desired_framerate=30.0;
this->diagnosed_camera_image=NULL;
- this->camera.it.reset(new image_transport::ImageTransport(this->public_node_handle_));
+ this->camera.it.reset(new image_transport::ImageTransport(this->private_node_handle_));
this->camera.Image_msg_=sensor_msgs::ImagePtr(new sensor_msgs::Image);
this->diagnosed_camera_image = new diagnostic_updater::HeaderlessTopicDiagnostic("image_raw",this->diagnostic_,
diagnostic_updater::FrequencyStatusParam(&this->desired_framerate,&this->desired_framerate,0.01,5));
this->event_server=CEventServer::instance();
- private_node_handle_.param<std::string>("camera_name", this->camera_name, "firewire_camera");
+
// [init publishers]
- this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera(this->camera_name+"/image_raw", 1);
+ this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera("image_raw", 1);
// try to load the calibration file
private_node_handle_.param<std::string>("cal_file", cal_file, "");
+ private_node_handle_.param<std::string>("camera_name", this->camera_name, "firewire_camera");
this->camera_manager.setCameraName(this->camera_name);
if(this->camera_manager.validateURL(cal_file))
{
@@ -132,7 +133,7 @@ void FirewireCameraDriverNode::mainNodeThread(void)
this->driver_.unlock();
}catch(CException &e){
this->driver_.unlock();
- ROS_ERROR("FirewireCameraDriverNode: Impossible to capture frame");
+ ROS_ERROR("FirewireCameraDriverNode:Impossible to capture frame[%s]", e.what().c_str());
}
//fill srv structure and make request to the server
}